Determining the Epipolar Geometry and its Uncertainty: A Review
International Journal of Computer Vision
Trajectory Triangulation: 3D Reconstruction of Moving Points from a Monocular Image Sequence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Structure and Motion for Dynamic Scenes - The Case of Points Moving in Planes
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
A multi-body factorization method for motion analysis
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Join Tensors: On 3D-to-3D Alignment of Dynamic Sets
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
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In this paper, we consider structure and motion recovery for scenes consisting of static and dynamic features. More particularly, we consider a single moving uncalibrated camera observing a scene consisting of points moving along straight lines converging to a unique point and lying on a motion plane. This scenario may describe a roadway observed by a moving camera whose motion is unknown. We show that there exist matching tensors similar to fundamental matrices. We derive the link between dynamic and static structure and motion and show how the equation of the motion plane (or equivalently the plane homographies it induces between images) may be recovered from dynamic features only. Experimental results on real images are provided, in particular on a 60-frames video sequence.